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Chapter 8 / Exercise 1
Sensation and Perception
Brockmole/Goldstein
Expert Verified
Lecture planUNIT I Basics of MechanismsSYLLABUS Introduction: Definitions : Link or Element, Pairing of Elements with degrees of freedom, Grubler’s criterion (without derivation), Kinematic chain, Mechanism, Mobility of Mechanism, Inversions, Machine. Kinematic Chains and Inversions : Kinematic chain with three lower pairs, Four bar chain, Single slider crank chain and Double slider crank chain and their inversions. Mechanisms: 1.Quick returns motion mechanisms Drag link mechanism, Whitworth mechanism and Crank and slotted lever mechanism 2.Straight line motion mechanisms Peacelier’s mechanism and Robert’s mechanism. 3.Intermittent motion mechanisms Geneva mechanism and Ratchet & Pawl mechanism. 4.Toggle mechanism, Pantograph, Hooke’s joint and Ackerman Steering gear mechanism. What is Kinematics?Kinematics is the study of motion (position, velocity, acceleration). A major goal of understanding kinematics is to develop the ability to design a system that will satisfy specified motion requirements. This will be the emphasis of this class.What is Kinetics?Kinetics is the study of effect of forces on moving bodies. Good kinematic design should produce good kinetics.Definitions Link: A link is defined as a member or a combination of members of a mechanism connecting other members and having relative motion between them. The link may consist of one or more resistant bodies. A link may be called as kinematic link or element. Eg: Reciprocating steam engine. Get useful study materials from
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Chapter 8 / Exercise 1
Sensation and Perception
Brockmole/Goldstein
Expert Verified
Classification of link is binary, ternary and quarternary. Joint:A connection between two links that allows motion between the links. The motion allowed may be rotational (revolute joint), translational (sliding or prismatic joint), or a combination of the two (roll-slide joint). Kinematic pair: Kinematic pair is a joint of two links having relative motion between them. The types of kinematic pair are classified according to Nature of contact ( lower pair, Higher pair) Nature of mechanical contact ( Closed pair, unclosed pair) Nature of relative motion ( Sliding pair, turning pair, rolling pair, screw pair, spherical pair) In the above given Slider crank mechanism, link 2 rotates relative to link 1 and constitutes a revolute or turning pair. Similarly, links 2, 3 and 3, 4 constitute turning pairs. Link 4 (Slider) reciprocates relative to link 1 and its a sliding pair. Get useful study materials from
Kinematic chain: When the kinematic pairs are coupled in such a way that the last link is joined to the first link to transmit definite motion it is called a kinematic chain. Eg: The crank shaft of an engine forms a kinematic pair with the bearings which are fixed in a pair, the connecting rod with the crank forms a second kinematic pair, the piston with the connecting rod forms a third pair and the piston with the cylinder forms the fourth pair. The total combination of these links is a kinematic chain. Eg: Lawn mover